robokudo.utils.tree
===================

.. py:module:: robokudo.utils.tree


Functions
---------

.. autoapisummary::

   robokudo.utils.tree.behavior_iterate_except_type
   robokudo.utils.tree.find_parent_of_type
   robokudo.utils.tree.find_children_with_name
   robokudo.utils.tree.get_scoped_list_of_names
   robokudo.utils.tree.get_scoped_name
   robokudo.utils.tree.setup_with_descendants_rk
   robokudo.utils.tree.setup_with_descendants_on_behavior
   robokudo.utils.tree.fix_parent_relationship_of_childs
   robokudo.utils.tree.find_root


Module Contents
---------------

.. py:function:: behavior_iterate_except_type(tree: py_trees.Behaviour, child_type, direct_descendants=False, include_tree=False)

   Generator similar to Behavior.iterate(). But this one doesn't traverse
   nodes of a specific type. It also traverses in a post-order manner like Behavior.iterate().
   @param include_tree will control if you want to include 'tree' itself in the enumeration,
   like it is done in Behavior.iterate()


.. py:function:: find_parent_of_type(behaviour: py_trees.Behaviour, parent_type) -> Optional[py_trees.Behaviour]

   Traverse the given behaviour up until we either hit the top of the tree or find a node of type parent_type.
   :return: return the first parent with type == parent_type. None otherwise


.. py:function:: find_children_with_name(composite: py_trees.Composite, name: str, direct_descendants=False) -> Optional[py_trees.Behaviour]

   Iterate() the given composite over its children and return the first child
   with child.name == name.
   :return: Found child or None


.. py:function:: get_scoped_list_of_names(behaviour: py_trees.Behaviour, scoping_behaviour_type) -> list

   This method can generate behaviour names which represent the structure of the tree.
   For that, we can prefix (or scope) the name of the input behaviour with a scoping behaviour parent.
   Imagine a tree like this:
     Sequence ("Z")
      |
     Sequence ("Y")
      |
     Behaviour ("B")
     
   Then get_scoped_list(b,Sequence) would return a list of the instances [B,Y,Z]

   :return: The scoped name like described above


.. py:function:: get_scoped_name(behaviour: py_trees.Behaviour, scoping_behaviour_type, delimiter='/') -> str

.. py:function:: setup_with_descendants_rk(tree: py_trees_ros.trees.BehaviourTree, setup_timeout=0)

   Call setup(0) on all children of tree.root
   :param tree: A py_trees_ros.trees.BehaviourTree which already constains all trees that should be setup'ed
   during startup.
   :param setup_timeout: Timeout value that is passed to the setup of each child.


.. py:function:: setup_with_descendants_on_behavior(tree: py_trees.Behaviour, setup_timeout=0)

   Call setup(0) on all children of tree
   :param tree: A Behaviour, which might also be a composition
   :param setup_timeout: Timeout value that is passed to the setup of each child.


.. py:function:: fix_parent_relationship_of_childs(behavior: py_trees.behaviour.Behaviour)

   Iterate top-down over this tree and reset the parent relationship for all childs.
   This may be required if you dynamically assign the same instance of a Behavior Tree node
   into different parts of the BT or also have the same instance in multiple individual Behavior Trees.

   :param behavior: The behavior to start with. This is typically the root node of the tree you need to "repair"


.. py:function:: find_root(behavior: py_trees.Behaviour) -> Optional[py_trees.Behaviour]

   Find the root of this behavior tree

   :param behavior:
   :return: A py_trees.Behaviour or None